High-magnification-ratio mobile robot carrying mechanical arm

Abstract

The invention relates to a high-magnification-ratio mobile robot carrying a mechanical arm. The problem that the magnification ratio of a mobile robot of a telescopic platform on the existing market is relatively small is solved. Comprising a mechanical arm, a telescopic module, a switching module and a moving module, the telescopic module comprises a lifting fixing frame and a motor I fixed to the lifting fixing frame, the motor I enables a lead screw nut I and a first-layer lifting connecting plate fixedly connected with the lead screw nut I to vertically move on a ball screw I under transmission of a speed reducer I and a coupler I, and the first-layer lifting connecting plate is fixedly connected with a first-layer lifting frame; a motor II is fixedly connected to the first-layer lifting frame, the motor II enables a lead screw nut II and a second-layer lifting connecting plate fixedly connected with the lead screw nut II to vertically ascend and descend on a ball screw II under transmission of a speed reducer II and a coupler II, and the second-layer lifting connecting plate is fixedly connected with the second-layer lifting frame. The device is reasonable in structure and high in efficiency.

Description

Technical Field

[0001] The invention relates to a high telescopic ratio mobile robot equipped with a mechanical arm, which is suitable for application environments requiring a high telescopic arm ratio during work. Background Art

[0002] With the continuous advancement of industrialization, the demand for mobile robots in industrial production is increasing. Many industrial products require comprehensive assembly and testing processes during the production process, but due to the limitation of production space, the mobile robots must have a sufficiently large telescopic ratio. Although there are many mobile robots with telescopic platforms on the market, their telescopic ratios are relatively small, and the lowest and highest points of the telescopic structure of the entire device cannot reach the optimal level. In addition, the accuracy of the telescopic structure is relatively low and cannot meet the requirements of the product installation, testing and other processes. Summary of the invention

[0003] The present invention provides a high telescopic ratio mobile robot equipped with a mechanical arm, thereby solving the problem that the telescopic ratio of mobile robots with telescopic platforms on the existing market is relatively small and the accuracy of the telescopic structure is relatively low and cannot meet the requirements of product installation, detection and other process requirements.

[0004] The present invention is achieved by the following technical solutions:

[0005] A high telescopic ratio mobile robot equipped with a mechanical arm, comprising a mechanical arm 1, a telescopic module 2, a switching module 3 and a mobile module 4, wherein the switching module 3 is mounted on the mobile module 4, the telescopic module 2 is mounted on the switching module 3, and the mechanical arm 1 is mounted on the telescopic module 2;

[0006] The telescopic module 2 includes a lifting and fixing frame 8 and a motor I16 fixed on the lifting and fixing frame 8. The motor I16 drives the screw nut I12 and a first-layer lifting connecting plate 13 fixed thereto to move vertically on the ball screw I11 under the transmission of the reducer I15 and the coupling I14. The first-layer lifting connecting plate 13 is fixedly connected to a first-layer lifting frame 17. A motor II24 is fixedly connected to the first-layer lifting frame 17. The motor II24 drives the screw nut II27 and a second-layer lifting connecting plate 26 fixed thereto to move vertically on the ball screw II18 under the transmission of the reducer II22 and the coupling II21. The second-layer lifting connecting plate 26 is fixedly connected to the second-layer lifting frame 25.

[0007] The lifting fixed frame 8 is provided with a linear slide rail I9, and a first lifting frame 17 is provided with a linear slider I23. The first lifting frame 17 is vertically lifted and lowered together with a first lifting connecting plate 13 under the guidance of the linear slide rail I9 and the linear slider I23.

[0008] The first-layer lifting frame 17 is provided with a linear slide rail II20, and the second-layer lifting frame 25 is provided with a linear slider II28. The second-layer lifting frame 25 is vertically lifted and lowered together with the second-layer lifting connecting plate 26 under the guidance of the linear slide rail II20 and the linear slider II28.

[0009] A limit switch I10 for controlling the descending or ascending position of the first-layer lifting frame 17 and a limit switch II19 for controlling the descending or ascending position of the second-layer lifting frame 25 are installed in the lifting fixed frame 8.

[0010] The mobile module 4 includes a mobile platform 29 and a wheel train 32 installed thereon. The module is also equipped with a shock-absorbing device 31 . The mobile module 4 is connected to the adapter module 3 via the mobile platform 29 and a connecting rod 30 .

[0011] The robot arm 1 is fixedly connected to the second-layer lifting frame 25 of the telescopic module 2 .

[0012] The invention can complete the processes of assembling and testing industrial products at one time. The high telescopic ratio mobile robot has a reasonable structure, stable performance and a wide telescopic range.

[0013] The present invention ensures that the device has a large telescopic ratio while operating with high precision to meet the needs of assembly inspection at the lowest and highest points of the product through reasonable design and layout of the mobile platform, telescopic module and other structures of the device. It has the advantages of high efficiency and low safety accidents, and the device has a reasonable structure and high efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 A schematic diagram of a high telescopic ratio mobile robot equipped with a mechanical arm according to the present invention;

[0015] Figure 2 It is a schematic diagram of the telescopic module;

[0016] Figure 3 It is a schematic diagram of the lifting and fixing mechanism;

[0017] Figure 4 This is a schematic diagram of the lifting mechanism for one floor;

[0018] Figure 5 It is a schematic diagram of the second-floor lifting mechanism;

[0019] Figure 6 It is a schematic diagram of the mobile module;

[0020] Figure 7 This is a schematic diagram of the transfer fixing module. DETAILED DESCRIPTION

[0021] See also Figure 1-7The high telescopic ratio mobile robot equipped with a mechanical arm is mainly composed of a mechanical arm 1, a telescopic module 2, a transfer module 3, a mobile module 4, etc. The mobile module 4 can move to any position with the cooperation of a gear train 32 installed on a mobile platform 29. At the same time, the module is equipped with a shock-absorbing device 31 to provide a stable operation condition for the entire mobile robot. The mobile module 4 is connected to the transfer module 3 through the mobile platform 29 and a connecting rod 30.

[0022] After the mobile module 4 moves to the designated position with the adapter module 3, telescopic module 2 and mechanical arm 1 carried thereon, the motor I16 on the lifting fixed frame 8 is controlled and driven by the reducer I15 and the coupling I14 to make the lead screw nut I12 and the first-layer lifting connection plate 13 connected thereto move on the ball screw I11. At the same time, since the first-layer lifting connection plate 13 is connected to the first-layer lifting frame 17, the first-layer lifting frame 17 will be vertically lifted and lowered together with the first-layer lifting connection plate 13 under the guidance of the linear guide rail I9 and the linear slider I23. Under the joint action of the motor II24, coupling II21 and reducer II22 connected to the first-layer lifting frame 17, the second-layer lifting frame 25 connected to the second-layer lifting connection plate 26 is driven and guided by the lead screw nut II27, ball screw II18, linear guide rail II20 and linear slider II28. Finally, the lifting and lowering of the second-layer lifting frame 25 drives the mechanical arm 1 carried thereon to rise and fall.

[0023] The limit switch I10 is fixed to the lifting frame 8 to control the lowering or ascending position of the first-layer lifting frame 17; the limit switch II19 is fixed to the lifting frame 8 to control the lowering or ascending position of the second-layer lifting frame 25. Two sets of limit switches ensure the safety and reliability of the entire lifting.

[0024] In the present invention, the lifting and fixing frame, linear slide rail, and limit switch constitute the lifting and fixing mechanism 5, and the corresponding ball screw, screw nut, lifting connecting plate, coupling, reducer, motor, and lifting frame respectively constitute the first-layer lifting mechanism 6 and the second-layer lifting mechanism 7.

[0025] Working principle of the present invention:

[0026] Under the control of the control system, the telescopic module 2 and the mechanical arm 1 carried on the adapter module 3 are moved to the designated workstation under the action of the moving module 4. Then, by controlling the driving modules of the first-layer lifting frame 17 and the second-layer lifting frame 25, each layer is lifted and lowered in the vertical direction under the action of its own guide module, thereby driving the carried mechanical arm 1 to move.

[0027] The purpose of the adapter module is to fix the telescopic module and connect it to the mobile module by connecting rods, so as to provide a larger installation platform for the entire mobile robot.

[0028] The telescopic module is intended to provide a large telescopic ratio for the robotic arm so as to meet the working range of the operating tool carried at the end of the robotic arm.

[0029] The motor, ball screw and linear guide rail are used to provide lifting power for each lifting layer in the telescopic module and to provide guidance for the linear guide rail.

[0030] The limit switch is intended to ensure that each lifting layer in the telescopic module has both mechanical limit and soft limit, thereby further ensuring the reliability and safety of the lifting of the telescopic module.

[0031] The mobile module is used to move the mobile robot to a designated position through a control system. The mobile module has an omnidirectional movement function and also has a shock absorbing device, which can ensure the smooth operation of the mobile robot.

[0032] Compared with the prior art, the present invention has the following advantages:

[0033] 1. The mobile module of the present invention has an omnidirectional function. At the same time, the shock-absorbing device in the mobile module can provide a shock-absorbing effect for the entire mobile robot, thereby ensuring the stability of the operation of the mobile module and the accuracy of the actuator at the end of the robot arm.

[0034] 2. The telescopic module of the present invention abandons the stacked lifting method in the existing market, and the entire lifting layer can eventually be retracted into the device, further reducing the device's external dimensions; the telescopic module has a large telescopic ratio and the lowest working position of the robotic arm it carries has obvious advantages over similar devices.

[0035] 3. The installation and driving method of the telescopic module of the present invention is simple and effective. The telescopic module is driven by a motor and a ball screw and guided by a linear slide rail, which greatly improves the operation accuracy of each lifting layer.

[0036] 4. The limit switch of the present invention is a soft limit of the telescopic module, ensuring the safety of the operation of the entire device.

[0037] 5. The present invention has a reasonable and compact structure, high efficiency, and is easy to assemble and use.

Claims

1. A high telescopic ratio mobile robot equipped with a mechanical arm, comprising a mechanical arm (1), a telescopic module (2), a switching module (3) and a mobile module (4), wherein the switching module (3) is mounted on the mobile module (4), the telescopic module (2) is mounted on the switching module (3), and the mechanical arm (1) is mounted on the telescopic module (2), wherein: The telescopic module (2) comprises a lifting fixed frame (8) and a motor I (16) fixed on the lifting fixed frame (8). The motor I (16) drives a lead screw nut I (12) and a first-layer lifting connection plate (13) fixed thereto to move vertically on a ball screw I (11) under the transmission of a reducer I (15) and a coupling I (14). The first-layer lifting connection plate (13) is fixedly connected to a first-layer lifting frame (17). A motor II (24) is fixedly connected to the first-layer lifting frame (17). The motor II (24) drives a lead screw nut II (27) and a second-layer lifting connection plate (26) fixed thereto to move vertically on a ball screw II (18) under the transmission of a reducer II (22) and a coupling II (21). The second-layer lifting connection plate (26) is fixedly connected to the second-layer lifting frame (25).

2. The high telescopic ratio mobile robot equipped with a mechanical arm according to claim 1, characterized in that: The lifting fixed frame (8) is provided with a linear slide rail I (9), and a layer of lifting frame (17) is provided with a linear slide block I (23). The layer of lifting frame (17) is vertically lifted and lowered together with a layer of lifting connecting plate (13) under the guidance of the linear slide rail I (9) and the linear slide block I (23).

3. The high telescopic ratio mobile robot equipped with a mechanical arm according to claim 1, characterized in that: The first-layer lifting frame (17) is provided with a linear slide rail II (20), and the second-layer lifting frame (25) is provided with a linear slider II (28). The second-layer lifting frame (25) is vertically lifted and lowered together with the second-layer lifting connection plate (26) under the guidance of the linear slide rail II (20) and the linear slider II (28).

4. The high telescopic ratio mobile robot equipped with a mechanical arm according to claim 1, characterized in that: A limit switch I (10) for controlling the descending or ascending position of a first-layer lifting frame (17) and a limit switch II (19) for controlling the descending or ascending position of a second-layer lifting frame (25) are installed in the lifting fixed frame (8).

5. The high telescopic ratio mobile robot equipped with a mechanical arm according to claim 1, characterized in that: The mobile module (4) includes a mobile platform (29) and a wheel train (32) installed thereon, and the module is also equipped with a shock-absorbing device (31). The mobile module (4) is connected to the switching module (3) through the mobile platform (29) and a connecting rod (30).

6. The high telescopic ratio mobile robot equipped with a mechanical arm according to claim 1, characterized in that: The mechanical arm (1) is fixedly connected to the second-layer lifting frame (25) of the telescopic module (2).

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